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Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Author: Ugo Cupcic / ugo@shadowrobot.com , software@shadowrobot.com
- License: GPL
- Source: bzr lp:sr-ros-interface-ethercat/fuerte (branch: release)
Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Author: Ugo Cupcic / ugo@shadowrobot.com , software@shadowrobot.com
- License: GPL
- Source: git https://github.com/shadow-robot/sr-ros-interface-ethercat.git (branch: groovy-devel)
Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Maintainer status: maintained
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic, Toni Oliver
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface-ethercat/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface-ethercat.git (branch: hydro-devel)
Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Maintainer status: developed
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic, Toni Oliver
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface-ethercat/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface-ethercat.git (branch: indigo-devel)
Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Maintainer status: developed
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic, Toni Oliver
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface-ethercat/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface-ethercat.git (branch: kinetic-devel)
Package Summary
sr_robot_lib contains the robot library used in the sr_edc_ethercat_drivers. The library is used to store the incoming etherCAT messages in an easy to access format, and prepare the messages to be send through etherCAT.
- Maintainer: Shadow Robot's software team <software AT shadowrobot DOT com>
- Author: Ugo Cupcic, Toni Oliver
- License: GPL
- Bug / feature tracker: https://github.com/shadow-robot/sr-ros-interface-ethercat/issues
- Source: git https://github.com/shadow-robot/sr-ros-interface-ethercat.git (branch: melodic-devel)
Contents
Overview
The sr_robot_lib package is where the incoming etherCAT packets are interpreted and stored in the correct structured to be made available for the controllers.
This package also contains a class which builds the etherCAT command we want to send to the hand, based on the configuration file motor_data_polling.yaml, the data is updated at different rates.
Config files
The config folder contains most of the configuration for the hand driver (except the controller configuration):
calibration.yaml is the calibration table for the different joints. You can calibrate the hand using the hand_calibration plugin in sr_control_gui
friction_compensation.yaml contains the different friction maps.
joint_to_motor_mapping.yaml is where the mapping from a given joint to a motor index is defined.
motor_data_polling.yaml contains the different update rates.
sensor_to_joint.yaml contains the mapping between the joints and the sensors: for example FFJ0 is the sum of FFJ1 and FFJ2, while THJ5, which is a compound sensor is the sum of THJ5a+THJ5b.